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Wheelslip plugin parameter addition #2518

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Wheelslip plugin parameter addition #2518

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57ba925
add parameters to wheelslip system plugin
knmcguire Aug 6, 2024
a998454
wheelslip update to latest gazebo changes
knmcguire Aug 6, 2024
b588acf
wheel slip different way to get parameter message
knmcguire Aug 6, 2024
588482d
Update src/systems/wheel_slip/WheelSlip.cc
knmcguire Nov 25, 2024
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59 changes: 49 additions & 10 deletions src/systems/wheel_slip/WheelSlip.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@

#include "gz/sim/Link.hh"
#include "gz/sim/Model.hh"
#include "gz/sim/Util.hh"
#include "gz/sim/components/AngularVelocity.hh"
#include "gz/sim/components/ChildLinkName.hh"
#include "gz/sim/components/Collision.hh"
Expand All @@ -35,6 +36,9 @@
#include "gz/sim/components/SlipComplianceCmd.hh"
#include "gz/sim/components/WheelSlipCmd.hh"

#include <gz/msgs/wheel_slip_parameters_cmd.pb.h>


using namespace gz;
using namespace sim;
using namespace systems;
Expand All @@ -53,6 +57,9 @@ class gz::sim::systems::WheelSlipPrivate
/// \brief Gazebo communication node
public: transport::Node node;

/// \brief Parameters registry
public: transport::parameters::ParametersInterface * registry;

/// \brief Joint Entity
public: Entity jointEntity;

Expand Down Expand Up @@ -248,29 +255,40 @@ void WheelSlipPrivate::Update(EntityComponentManager &_ecm)
for (auto &linkSurface : this->mapLinkSurfaceParams)
{
auto &params = linkSurface.second;
const auto * wheelSlipCmdComp =
_ecm.Component<components::WheelSlipCmd>(linkSurface.first);
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Deleting this line removes the ability to set wheel slip parameters via the ECM. I think it would be better to keep the ECM support (since it is more deterministic) but to add the gz-transport parameters interface in addition to it

if (wheelSlipCmdComp)
std::string scopedName = gz::sim::scopedName(
linkSurface.first, _ecm, ".", false);

// TODO(ivanpauno): WHY THE SCOPED NAME CHANGES BETWEEN HERE AND
// ConfigureParameters()?
// Here the scoped name starts with "wheel_slip."
// In `ConfigureParameters()` that doesn't happen!
auto paramName = std::string("systems.") + scopedName;
msgs::WheelSlipParametersCmd msg;

auto result = this->registry->Parameter(paramName, msg);

if (result)
{
const auto & wheelSlipCmdParams = wheelSlipCmdComp->Data();
bool changed = (!math::equal(
params.slipComplianceLateral,
wheelSlipCmdParams.slip_compliance_lateral(),
msg.slip_compliance_lateral(),
1e-6)) ||
(!math::equal(
params.slipComplianceLongitudinal,
wheelSlipCmdParams.slip_compliance_longitudinal(),
msg.slip_compliance_longitudinal(),
1e-6));

if (changed)
{
gzdbg << "WheelSlip system Update(): parameter ["
<< paramName << "] updated"
<< std::endl;
params.slipComplianceLateral =
wheelSlipCmdParams.slip_compliance_lateral();
msg.slip_compliance_lateral();
params.slipComplianceLongitudinal =
wheelSlipCmdParams.slip_compliance_longitudinal();
msg.slip_compliance_longitudinal();
}
_ecm.RemoveComponent<components::WheelSlipCmd>(linkSurface.first);
}
}

// get user-defined normal force constant
double force = params.wheelNormalForce;
Expand Down Expand Up @@ -346,6 +364,26 @@ void WheelSlip::Configure(const Entity &_entity,
this->dataPtr->validConfig = this->dataPtr->Load(_ecm, sdfClone);
}

void WheelSlip::ConfigureParameters(
gz::transport::parameters::ParametersRegistry & _registry,
EntityComponentManager &_ecm)
{
this->dataPtr->registry = &_registry;
for (const auto & linkParamsPair : this->dataPtr->mapLinkSurfaceParams) {
std::string scopedName = gz::sim::scopedName(
linkParamsPair.first, _ecm, ".", false);

auto paramName = std::string("systems.wheel_slip.") + scopedName;
auto wsParams = std::make_unique<gz::msgs::WheelSlipParametersCmd>();
wsParams->set_slip_compliance_lateral(
linkParamsPair.second.slipComplianceLateral);
wsParams->set_slip_compliance_longitudinal(
linkParamsPair.second.slipComplianceLongitudinal);
_registry.DeclareParameter(paramName, std::move(wsParams));
}
}


//////////////////////////////////////////////////
void WheelSlip::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm)
{
Expand Down Expand Up @@ -388,6 +426,7 @@ void WheelSlip::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm)
GZ_ADD_PLUGIN(WheelSlip,
System,
WheelSlip::ISystemConfigure,
WheelSlip::ISystemConfigureParameters,
WheelSlip::ISystemPreUpdate)

GZ_ADD_PLUGIN_ALIAS(WheelSlip,
Expand Down
6 changes: 6 additions & 0 deletions src/systems/wheel_slip/WheelSlip.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,7 @@ namespace systems
class WheelSlip
: public System,
public ISystemConfigure,
public ISystemConfigureParameters,
public ISystemPreUpdate
{
/// \brief Constructor
Expand All @@ -132,6 +133,11 @@ namespace systems
EntityComponentManager &_ecm,
EventManager &_eventMgr) override;

public: void ConfigureParameters(
gz::transport::parameters::ParametersRegistry &
_registry,
EntityComponentManager &_ecm) override;

// Documentation inherited
public: void PreUpdate(
const gz::sim::UpdateInfo &_info,
Expand Down
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